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--- getting_started:tutorials:oneaxis [2019/10/14 16:18] – [Build Application] graf
+++ getting_started:tutorials:oneaxis [2023/04/13 11:29] (current) – [Build Application] ursgraf
@@ Line 15: / Line 15: @@
 =====Experimental Setup=====
-A maxon motor controller (50V / 5A) delivers the necessary power. The motor we use has the following properties:
+The motor we use has the following properties:
 |  **Properties**              ^  Value            ^  Unit         ^
@@ Line 29: / Line 29: @@
 =====Build Application=====
-  - Download EEROS, hardware wrapper libraries, and simple motor application described in [[getting_started:install_and_setup_development_environment|]]. Make sure that the following entry in ''config.sh.in'' is as follows <code>
+  - Proceed with [[getting_started:write_app|]] and select the right target. Scroll down to ''Use Existing Project''.
-use_custom_application=true
+  - After cloning the project, navigate to the directory ''simple-motor-control'' where you can find the code of the application.
-</code>
-  - After cloning with the clone script, navigate to the directory ''simple-motor-control'' where you can find the code of the application.
-  - [[getting_started:compile_eeros|]] together with the application.
   - [[getting_started:deploy|]] to the target system if necessary.
@@ Line 47: / Line 44: @@
 $ sudo ./simpleMotorControl -c HwConfigBBB.json
 </code>
+The application logs the motor position once per second. By activating the emergency button, the safety system will immediately switch to an emergency state. Deactivating this button causes the system to switch back to running mode.
+===== Develop your own Application Further =====
+For further development we recommend to use an integrated development environment as described in [[getting_started:kdevelop|]]. You do not have to create a new project, because you already have downloaded and built the simple motor controller project. Import the project together with the EEROS and wrapper libraries into KDevelop.
 =====Implementation=====
@@ Line 54: / Line 56: @@
 ==== Safety System ====
 Safety levels and events are declared in ''SMCSafetyProperties.hpp''. ''SMCSafetyProperties.cpp'' initializes these objects, defines critical inputs and outputs, defines level actions, and adds the levels to the safety system. The levels and events causing transitions between those levels are shown in the next figure.
-[{{ :getting_started:tutorials:safetysystemoneaxis.png?600 |//Safety levels and events//}}]
+[{{ :getting_started:tutorials:safetysystemoneaxis.jpg?700 |//Safety levels and events//}}]
 Two critical inputs are defined: "emergency" and "readySig1". "enable" is a critical output. Critical inputs and outputs are checked and set by each safety level. For example "enable" is set to ''true'' as soon as the safety level is equal or higher than ''powerOn''. "emergency" is unchecked for the two lowest levels and leads to level change to level ''emergency'' for higher levels.